Autonomous personal service robot

• US 7,228,203 B2
• Filed: 03/26/2005
• Issued: 06/05/2007
• Est. Priority Date: 03/27/2004
• Status: Expired due to Fees

• Current Assignee: Vision Robotics Corporation
• Original Assignee: Vision Robotics Corporation
• Inventors: Wallach, Bret, Koselka, Harvey, Gollaher, David
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/090,356
• Publication Number:
  US 20050216126A1
• Time in Patent Office: 801 Days
• Field of Search: 700/245, 700/258, 700/259
• US Class Current: 700/245
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G08B 21/0423 detecting deviation from an expected pattern of behaviour or schedule
• CPC Class Codes: G08B 21/043 detecting an emergency event, e.g. a fall
• CPC Class Codes: G08B 21/0461 integrated or attached to an item closely associated with the person but not worn by the person, e.g. chair, walking stick, bed sensor
• CPC Class Codes: G08B 21/0476 Cameras to detect unsafe condition, e.g. video cameras
• CPC Class Codes: G08B 21/14 Toxic gas alarms G08B21/16 takes precedence

Abstract

Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.

Claims

1. An autonomous personal service robot comprising:

a frame;

a drive system coupled with said frame and configured to move said frame;

at least one camera coupled with said frame;

a processor coupled with said frame and configured to operate said drive system to move said at least one camera coupled with said frame to dynamically map an environment, said processor further configured to identify a person, track said person and change position of said frame in said environment to monitor said person using at least one image obtained from said at least one camera and wherein said processor is further configured to determine if an out-of-ordinary event has occurred;

a video screen interface coupled with said processor;

an audio interface coupled with said processor; and

,

said processor further configured to respond to emergency cries from said person obtained from said audio interface.

2. An autonomous personal service robot comprising:

a frame;

a drive system coupled with said frame and configured to move said frame;

at least one camera coupled with said frame;

a processor coupled with said frame and configured to operate said drive system to move said at least one camera coupled with said frame to dynamically map an environment, said processor further configured to identify a person, track said person and change position of said frame in said environment to monitor said person using at least one image obtained from said at least one camera and wherein said processor is further configured to determine if an out-of-ordinary event has occurred;

a medical dispenser coupled with said autonomous personal service robot and configured to dispense medication at programmable intervals; and

,

said processor further configured to alert a second person if said medication is not utilized by said person.

3. An autonomous personal service robot comprising:

a frame;

a drive system coupled with said frame and configured to move said frame;

at least one camera coupled with said frame;

a processor coupled with said frame and configured to operate said drive system to move said at least one camera coupled with said frame to dynamically map an environment, said processor further configured to identify a person, track said person and change position of said frame in said environment to monitor said person using at least one image obtained from said at least one camera and wherein said processor is further configured to determine if an out-of-ordinary event has occurred; and

,

a light coupled with said autonomous personal service robot wherein said light is selected from a group consisting of emergency light, infrared light and reading light.

4. An autonomous personal service robot comprising:

a frame;

a drive system coupled with said frame and configured to move said frame;

at least one camera coupled with said frame;

a processor coupled with said frame and configured to operate said drive system to move said at least one camera coupled with said frame to dynamically map an environment, said processor further configured to identify a person, track said person and change position of said frame in said environment to monitor said person using at least one image obtained from said at least one camera and wherein said processor is further configured to determine if an out-of-ordinary event has occurred; and

,

an X10 interface coupled with said autonomous personal service robot wherein said processor is configured to operate an X10 compliant device via said X10 interface.

5. A method for utilizing an autonomous personal service robot comprising:

identifying a person with at least one camera coupled with a processor that is further coupled with a frame and further coupled with a drive system configured to move said frame;

mapping an environment dynamically using said at least one camera;

tracking said person using said drive system to move said at least one camera coupled with said frame;

monitoring said person using said at least one camera;

determining if an out-of-ordinary event has occurred using said software component executing on said processor;

utilizing an audio interface coupled with said processor; and

,

responding to emergency cries from said person.

6. A method for utilizing an autonomous personal service robot comprising:

identifying a person with at least one camera coupled with a processor that is further coupled with a frame and further coupled with a drive system configured to move said frame;

mapping an environment dynamically using said at least one camera;

tracking said person using said drive system to move said at least one camera coupled with said frame;

monitoring said person using said at least one camera;

determining if an out-of-ordinary event has occurred using said software component executing on said processor;

dispensing medication at programmed intervals utilizing a medical dispenser coupled with said autonomous personal service robot; and

,

alerting a second person if said medication is not utilized by said person.

7. A method for utilizing an autonomous personal service robot comprising:

identifying a person with at least one camera coupled with a processor that is further coupled with a frame and further coupled with a drive system configured to move said frame;

mapping an environment dynamically using said at least one camera;

tracking said person using said drive system to move said at least one camera coupled with said frame;

monitoring said person using said at least one camera;

determining if an out-of-ordinary event has occurred using said software component executing on said processor; and

,

displaying a light coupled with said autonomous personal service robot wherein said light is selected from a group consisting of emergency light, infrared light and reading light.

8. A method for utilizing an autonomous personal service robot comprising:

identifying a person with at least one camera coupled with a processor that is further coupled with a frame and further coupled with a drive system configured to move said frame;

mapping an environment dynamically using said at least one camera;

tracking said person using said drive system to move said at least one camera coupled with said frame;

monitoring said person using said at least one camera;

determining if an out-of-ordinary event has occurred using said software component executing on said processor; and

,

utilizing an X10 interface coupled with said autonomous personal service robot wherein said processor is configured to operate an X10 compliant device via said X10 interface.